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  organization={IEEE}
}

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  pages={965--972},
  year={2018},
  publisher={IEEE}
}

@article{trawny2005indirect,
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@article{DBLP:journals/corr/abs-1711-02508,
  author    = {Joan Sol{\`{a}}},
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  journal   = {CoRR},
  volume    = {abs/1711.02508},
  year      = {2017},
  url       = {http://arxiv.org/abs/1711.02508},
  archivePrefix = {arXiv},
  eprint    = {1711.02508},
  timestamp = {Mon, 13 Aug 2018 16:48:15 +0200},
  biburl    = {https://dblp.org/rec/bib/journals/corr/abs-1711-02508},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

@online{xinliang-zhong-msckf_notes,
  author = {钟心亮},
  title = {一步步深入了解S-MSCKF},
  year = 2019,
  howpublished = {\url{http://www.xinliang-zhong.vip/msckf_notes/}},
  url = {http://www.xinliang-zhong.vip/msckf_notes/},
}


